chore: sync upstream #1130

…tion#6088) * refactor(lane_change): update lc status in updateData Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * update current lane and target lane during requested Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * set is_valid_path as false by default Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * reset flags after finished lane change Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* docs(map_projection_loader): add limitations Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…on#6155) remove gnss_frame from gnss_poser.schema.json Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>

…gation (autowarefoundation#6148) Revert "perf(ring_outlier_filter): a cache friendly impl (continuation of VRichardJP's work) (autowarefoundation#4185)" This reverts commit e45c1ce.

…#6157)

…efoundation#6129) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

…checkpoints (autowarefoundation#6153) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…ion launcher (autowarefoundation#6152) * refactor: align mode parameters Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: cluster detector and merger Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: separate object merger launches Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: radar detector module Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: lidar detector modules Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: fix mis spell, align typo, clean-up Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Added json schema to AR tag-based localizer Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…utowarefoundation#6161) * fix type of critical_upper_bound_exe_time_ms Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * fix order Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> --------- Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

…dation#6156) * refactor(localization_error_monitor): rework parameters Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* chore(simple_object_merger): update README Signed-off-by: scepter914 <scepter914@gmail.com> * style(pre-commit): autofix * update README Signed-off-by: scepter914 <scepter914@gmail.com> * style(pre-commit): autofix * update README Signed-off-by: scepter914 <scepter914@gmail.com> --------- Signed-off-by: scepter914 <scepter914@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…dation#6150) * improve algorithm * sync param Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

* introduce json schema for ground_server Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * introduce json schema for ll2_decomposer Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * fix json in yabloc_common Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * introduce json schema for graph_segment Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * introduce json schema for segment_filter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix yabloc_common schema.json Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * introduce json schema for undistort Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * Revert "introduce json schema for ground_server" This reverts commit 33d3e60. * Revert "introduce json schema for graph_segment" This reverts commit 00ae417. Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * introduce json schema for yabloc_monitor Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * introduce json schema for yabloc_particle_filter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * introduce json schema for yabloc_pose_initializer Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * apply pre-commit Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix revert conflict Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* update docs Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

…tion#6179) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

…ing state transition (autowarefoundation#6172) Update drivable area info and enable idle to running state transition Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

chore(cluster_merger): organize parameter Signed-off-by: kminoda <koji.minoda@tier4.jp>

…utowarefoundation#5178) refactor: Rename localization_accuracy to localization_error_ellipse Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp>

…ty (autowarefoundation#6174) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

…undation#6175) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

…warefoundation#6183) * replace parameters by json_to_markdown Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix some schma path Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix again Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>

) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

…arefoundation#6178) feat(goal_planner): consider move objects when deciding path Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

autowarefoundation#6154) * feat(metrix_visualize_panel): add new plugin to show planning metrix Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(tier4_metrics_rviz_plugin): fix small issues Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * chore: add maintainer Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs(tier4_metrics_rviz_plugin): fix docs Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat: add support of throttle logging Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * refactor: replace custom `Logger` to `tensorrt_common::Logger` Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * refactor: update to display standard output on screen Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * refactor: update log message while building engine from onnx Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * refactor: update logger in `lidar_centerpoint` Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * refactor: update log message Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * refactor: set default verbose=true for bulding engine from onnx Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * refactor: remove including unused `rclcpp.hpp` Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * refactor: update launcher to output logs on screen Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> --------- Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>

) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…ion#6166) chore(detected_object_validation): use config Signed-off-by: kminoda <koji.minoda@tier4.jp>

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) * chore(object_range_splitter): add param file Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix arg name Signed-off-by: kminoda <koji.minoda@tier4.jp> * feat: use param file from autoware.launch Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp>

…tuation to blame past detection fault retrospectively (autowarefoundation#6143) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

…owarefoundation#6173) * refactor(lane_change): combine all debug data into single struct Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Rename valid path → valid paths Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * move the marker creation to marker_utils Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Remove alias Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

…utowarefoundation#6203) Signed-off-by: kminoda <koji.minoda@tier4.jp>

…racker merger (autowarefoundation#6182) * fix: enable to association unknown class in tracker merger Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * chore: disable warning messages caused by unknown association Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* refactor(ndt_scan_matcher): rename de-grounded Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…old (autowarefoundation#6133) * fix(simple_object_merger): change the default param of timeout_threshold Signed-off-by: scepter914 <scepter914@gmail.com> * fix conflict Signed-off-by: scepter914 <scepter914@gmail.com> --------- Signed-off-by: scepter914 <scepter914@gmail.com>

…arefoundation#6201) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

…oundation#6168) * chore(tracking_object_merger): use config Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix(tracking_object_merger): fix bug and use param file Signed-off-by: kminoda <koji.minoda@tier4.jp> * Update perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com>

…agnostics in gyro_bias_estimator (autowarefoundation#6139) * Let diagnostics be updated even if expections occur in timer_callback Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * Fixed the summary message to be "Not updated" when the gyro bias is not updated. Fixed typo. Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * Removed force_update() since updater_ originaly updates diagnostics automatically. Set the update peirod of diagnostics to be same to the timer_callback. Changed words of the diagnostics message a bit. Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * style(pre-commit): autofix * Let the period of diagnostics publication independent to timer. Let update_diagnostics to be simple. Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * style(pre-commit): autofix * Fixed typo Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * style(pre-commit): autofix * Added setPeriod after force_update to reset the timer of updater_. Then, there will be no duplicates of diagnostics. Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * style(pre-commit): autofix * Set diagnostics values to have the same precision Added gyro_bias_threshold_ to the diagnostics Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * Updated README.md to match the paramters in gyro_bias_estimator Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…6190) Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>

…cclusion detection (autowarefoundation#6207) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

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…n#5957) Signed-off-by: Khalil Selyan <khalil@leodrive.ai>

…utowarefoundation#6163) chore: fix_default_tlr_yolox_model_name Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* feat/test_radar_tracks_noise_filter Signed-off-by: N-Eiki <naganagaeichan@gmail.com> * change file name Signed-off-by: N-Eiki <naganagaeichan@gmail.com> --------- Signed-off-by: N-Eiki <naganagaeichan@gmail.com> Co-authored-by: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>

…ation#6206) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…val (autowarefoundation#6176) * saved Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feat(lane_change): fix drivable area info Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feat(lane_change): update filter object Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feat(lane_change): fix turn signal Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(lane_change): fix typo Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(lane_change): remove updateLaneChangeStatus() Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(lane_change): remove redundant process Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(lane_change): calculate distance to goal Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(lane_change): add empty guard Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> --------- Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

…towarefoundation#6185) * refactor(map_launch): use map.launch.xml instead of map.launch.py Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

…nd (autowarefoundation#6227) Changed error handling when pcd_metadata file not found Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

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…undation#6222) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

…tion#6219) * Update collision check distances in start planner module Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Add new maintainers to package.xml Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

…undation#6223) Signed-off-by: scepter914 <scepter914@gmail.com>

…refoundation#6225) * chore: add maintainer to common package related to perception Signed-off-by: scepter914 <scepter914@gmail.com> * add maintainer Signed-off-by: scepter914 <scepter914@gmail.com> --------- Signed-off-by: scepter914 <scepter914@gmail.com>

…#6231) Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

…utowarefoundation#6243) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…#6234) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

* chore: remove default params Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: scan ground gtest Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: ray ground filter gtest Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

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Signed-off-by: kminoda <koji.minoda@tier4.jp>

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…n ego polygon overlap with centerline (autowarefoundation#6236) * disable safety check against dynamic objects when ego polygon overlap with centerline Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* add guard Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

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…towarefoundation#6215) Signed-off-by: scepter914 <scepter914@gmail.com>

…n#6278) * ci(build-and-test-differential): use github runner Signed-off-by: kminoda <koji.minoda@tier4.jp> * change clang-tidy runner Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp>

…n#6208) * refactor(ndt_scan_matcher): hierarchize parameters Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * style(pre-commit): autofix * add new lines Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * fix typo Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> --------- Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* Added twist2accel.param.yaml Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> * Added twist2accel.schema.json Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> * Fixed README.md and description Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Removed default parameters Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> --------- Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

… occlusion detection is OFF (autowarefoundation#6279) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

…ation for pointcloud pipeline (autowarefoundation#6056)

* ci(build-and-test-differential): add df -h Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci: update yaml format Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp>

* feat(lidar_centerpoint,image_projection_based_fusion): add pointcloud_container option Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert lidar_perception_model Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * fix: add options Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix: fix default param Signed-off-by: kminoda <koji.minoda@tier4.jp> * update node name Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix: fix IfCondition Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix pointpainting namespace Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix: fix launch args Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix(euclidean_cluster): do not launch individual container when use_pointcloud_container is true Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix(euclidean_cluster): fix launch condition Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix(euclidean_cluster): fix launch condition Signed-off-by: kminoda <koji.minoda@tier4.jp> * Update perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>

…ion (autowarefoundation#6264) * Add start planner module and related images * Update geometric pull out path generation in shoulder lane * Update README.md with additional path generation feature Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

…pull_out_lanes for collision detection (autowarefoundation#6110) visualize drivable lanes for shift path and pull_out_lanes for collision detection Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* docs(goal_planner): update docs about goal search Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * update update Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> update multi-threads Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> add collision check image Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> update Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> add pre commit Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> unknown word update Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

…dation#6169) * chore(image_projection_based_fusion): use config Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * fix: revert build_only option Signed-off-by: kminoda <koji.minoda@tier4.jp> * docs: update readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * update component launcher as well Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…n#6051) * fix(bpp): explicitly set the initial state Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * remove isWaitingApproval() from state transition Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * explicitly set the initial state Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * remove setInitState in start_planner_module Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>

…utowarefoundation#6292) Signed-off-by: kminoda <koji.minoda@tier4.jp>

…ation#6082) * fix: bicycle model length on big vehicle Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: rear axis position fix in all modalities Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: repeat predict to limit dt Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: implement repeating prediction to all modalities Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: bicycle model revision Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: fix centripetal acceleration, jacobian Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: equation on description, velocity index fix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: markdown math Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactor params Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: model slip process rate Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: yaw rate limits Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: refactor vx to vel, follow actual definition Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: acceleration uncertainty equation fix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: twist covariance matrix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: explanations of Kalman filter matrices Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: slip angle process noise model revised Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: parameter tuning Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: use mahalanobis distance gate with larger threshold Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: align tracker format Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com> Co-authored-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com> Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp>

…n#6253) * Extract all params in map_projection_loader to map_projection_loader.param.yaml Added launch argument map_projection_loader_param_path to map.launch.xml Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * Added map_projection_loader.schema.json. Modified README.md of map_projection_loader to read the schema.json file to construct the table of parameters Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * style(pre-commit): autofix * Fixed typo Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> --------- Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

…6245) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

…tion#6251) * docs(lane_change): add description for lane expansion Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * Update planning/behavior_path_lane_change_module/README.md Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * Update planning/behavior_path_lane_change_module/README.md Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> --------- Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>

…ation#6286) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

…utowarefoundation#6274) fix: remove breaking change Signed-off-by: Benjamin Gilby <gilbybenjamin@gmail.com>

…a file (autowarefoundation#6294) Revert "fix(map_loader): change error handling when pcd_metadata file not found (autowarefoundation#6227)" This reverts commit 25bc636.

…ation (autowarefoundation#6272) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

…dation#6189) * consider the crosswalks signals * update with the reviewers comments Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

…l, if tl info has never been available (autowarefoundation#6273) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

…f debug print (autowarefoundation#6298) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

…utowarefoundation#6278)" (autowarefoundation#6306) * Revert "ci(build-and-test-differential): remove prevent-no-label-execution (autowarefoundation#6292)" This reverts commit 76cc954. * Revert "ci(build-and-test-differential): use github runner (autowarefoundation#6278)" This reverts commit 0262c68.

…tion#6242) * WIP make ego yield to cut in vehicles Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * param name change Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * add params Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * refactor Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * fix bug for distance comparison Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * implement a collision time check for yield candidates Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * deleting comments Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * comment out prints for test Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * delete comments, use param Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Add param to set moving obstacle speed threshold Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * WIP check for cars going opposite direction Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * check opposite line driving Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update documentation Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update README Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * set default false Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * refactor Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * refactor isFrontObstacle Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * make const Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>

* refactor(ndt_scan_matcher): rework parameters Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * delete tmp file Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…tion (autowarefoundation#6285) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

…foundation#6301) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

…pty (autowarefoundation#6318) check pull_out_path is empty Signed-off-by: beyza <bnk@leodrive.ai> Co-authored-by: beyza <bnk@leodrive.ai>

…ion#6315) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

…dation#6240) * fix(simple_planning_simulator): fix steering bias model Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove old implementation Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix initialize order Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix yawrate measurement Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused code Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add bias to steer rate Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add comments Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix getWz() Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Update simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp * Update simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp * Update simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp --------- Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: kosuke55 <kosuke.tnp@gmail.com>

* refactor: Create JSON Schema files Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp> * Fix: Modify the descriptions of parameters Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp> * fix: Redo modification of the descriptions Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp> * doc: Replace parameter tables to JSON Schema ones in README Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp> * refactor: Remove default value from source code and launch.xml with arrangement of param .yaml Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…tion#6303) Update README.md

…switching rule (autowarefoundation#6144) * implement pose_estimator_manager pkg Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * tmp Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * swap ndt & yabloc Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add suspension service in yabloc particle filter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add pluginlib for switching rule Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * implement switch rule using pluginlib Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * WIP: implement simple_switch_rule Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * implement pcd_occupancy_rule based switcher Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * resolve conflicts occured by rebase Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * sub_manager_node is not necessary Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add ndt_yabloc_eagleye Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix bug Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * intuitive_multi_pose_estimator_launch Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * yabloc_pf shoulbe be activated at the first Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * merge swith_rule_plugin as inheritance Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix launch bug Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add eagleye_area rule Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * implement strict switching rule Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * refine message Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix merge conflict Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use hysteresis threshold for pcd occupancy criteria Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix merge conflict Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add gtest Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add component test Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add artag submanager Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add ar_tag_position to get ar-tag position Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * check distance to nearest ar marker Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * switch ARTAG localizer if ar marker locates around ego Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * improve ar_tag_position.[hc]pp Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * split update() from map_base_rule.cpp Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * apply pre-commit Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add license description Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update include guard Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * reflected all pre-commit's points Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use magic_enum Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add pcd_occupancy helper Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * change directory structure Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * change namespace Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remap some topics Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update test Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add shared_data to share data Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove obsolete comments Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * share subscribed data by SharedData Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove obsolete comments and fix to pass test.py Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * rename SharedData Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * stream debug_msg as is Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add README.md Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * Update README.md update README.md on github Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix eagleye bug Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update README Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * wip Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update README.md Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update README Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use landmark_manager Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add glog & fix rule_helper bug Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * publish empty diagnostics Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix artag arbitorator Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * implement callback_involving_variable Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * rename invokingVariable Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * clarify log level Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update diagnostics Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * adope new landmark_manager Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * rename manager arbiter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * fix obsolete change Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * change yabloc relayed input topic Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * resolve merge conflict Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * adopt ar_tag_position for new ar tag map specification Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * rename sub_arbitr to stopper Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * apply pre-commit Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add timeout for async parameter client Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * fix typo Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * refactor shared_data Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * rename yabloc_suspend_service Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * improve debug log Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix integration test Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * remove obsolete notation Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix ar_tag_based_localizer.launch.xml Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * again fix ar_tag_based_localizer.launch.xml Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * add sample data url Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * (review reflect) refactor launch Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * (review reflect) refactor launch about gnss_enabled Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * (review reflect) organize type alias accessibility Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * (review reflect) rename PoseEstimatorName to PoseEstimatorType Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * (review reflect) fix typo Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * fix pedantic warning of PCL Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * (review reflect) improve diag & suppress warning Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * (review reflect) create sub only when the corresponding estimator is running Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * rename eagleye_area to pose_estimator_area Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * vectormap based rule works well Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * move old rules to example_rule/ Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update README Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * improve some features Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * style(pre-commit): autofix * move some rules into example_rule & add new simple rule Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * apply pre-commit & update README Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * split CMake for example_rule Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove ar_tag_position & simplify example switching rule Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add vector_map_based_rule test Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add pcd_map_based_rule test Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * improve README Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix integration test.py Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add test Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * refactor & update README Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * replace obsolete video Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix typo Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * Update README.md fix markdown (add one line just after <summary>) Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use structures bindings Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add many comments Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove obsolete include & alias Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix miss of eagleye output relay Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix 404 URL Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove obsolete args Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* chore(lidar_centerpoint): use config Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert unnecessary fix Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix: revert build_only option Signed-off-by: kminoda <koji.minoda@tier4.jp> * docs: update readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * fix: add pr url Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>

* refactor(map_tf_generator): rework parameters Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * add config Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…warefoundation#6131) * first commit: add only necessary bpp code for template Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * change name of file Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * delete more unrelated code Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * refactor Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix manager Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * rebase Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * Copy sampling-based planner to behavior path planner Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * fix include paths Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * rebase Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * eliminate unused code Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * delete repeated code Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add dependencies for bezier and frenet planners Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * [WIP] Made a simple implementation of behavior planning Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * [WIP] added comments on making drivable area Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * Just adding functions to test Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * [WIP] Implement Frenet Planner Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * eliminate unused code Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * WIP add debug marker generation Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * Comment out for debugging Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * return prev drivable area (temp) Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * fixes to compile after rebase Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * WIP update sampling planner param structure to equal behav planner Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * Updated param handling Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * changed names of internal_variable to match changes Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * partially solve markers not clearing Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * add param update functionality Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * WIP transform frenet to pathwithlaneid Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * set frenet path as output Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Added pruning to select the best frenet path Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Initialize vehicle info Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * calculate properly right and left bound for drivable area check Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * remove debug prints and increase vehicle margin, should be param Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * param changes for driving in small lanes Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * WIP add drivable area expansion from LC Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * add drivable area expansion Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add driveable area Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Make the points on the path have the same z as goal Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * remove print, changes Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * WIP add prev sampling path to calculation Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * WIP constraints handler Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Add modifiable hard constraints checking function Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Add modifiable soft constraints checking function Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Add costs for distance to goal and curvature Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * take out todo-> solved Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Added normalized constraints with ref path speed Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * (WIP)isExecution requested update to not execute Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * refactor: move getInitialState to utils Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * refactor: move some functions to utils, get rid of velocity req in generate pathwithlaneid Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * made curvature soft constraint depend on distance to goal Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * Add prev path extension Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * add calculation of initial lateral velocity and acceleration Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * add calculation of initial lateral velocity and acceleration to path extension Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * WIP Add poses to path to get centerline distance and other stuff Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * clear info_marker_ to prevent performance issues Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * solve dependency issues Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Add cost to avg. distance to centerline Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * added arc lenght based extension limit Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Add running and success conditions, add dist to soft const Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * update success transition Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * Solve bug with goal not being in any current lanelet Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * Add todo comment Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * Adjust to centerline cost Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * update soft costs Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * tuning Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add reference path change after sampling planner Success (which might cause a LC Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Added soft constraints weights as parameter to easily tune w/ rqt Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * improve performance by computing arc coordinates before soft constraints check Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * temp Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * temp Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * deleted unusused Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * delete unused Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * add plugin export macro Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * fix launch file Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * WIP still not launching sampling planner plugin Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * solve problem of plugin insertion (duplicated files) Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * partly fix issue with PathwithLaneID not having laneids at the first points Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Modify PreviousOutput path since it is no longer a shared ptr Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * Added new change root lanelet request override Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * WIP update collision detection to use rtree Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * fix bug with index Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * Add rtree for collision checking Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * refine soft constraints use remaining length of path max curv and normalize lateral error Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * Add sanity check and delete unused code Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * change success transit function to be more accurate Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * refactor Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * solve bug for path.extend with 0 poses Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * add hard check for empty paths Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * fix private current_state usage Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Add path reuse at different lenghts Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * delete old comments use param for path reuse Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * light refactoring Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * pre-commit changes Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * pre-commit add dependency Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * delete unused dependencies Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * change constraints evaluation to return vectors Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * use tier4 autoware utils function to calc quaternion Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * refactor, use autoware utils Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update comment Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Add documentation Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * pre-commit changes Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * delete unused dependencies and repeated args Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update copyright and fix magic numbers Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * delete unused header Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * refactoring Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * remove unused dependency Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update copyright and dependency Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update calcBound to work properly Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * solve problem with drivable area Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * remove forced false Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * solve calc bound problem Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix compatibility with updates to bpp Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * remove cerr print Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * solve bugs when merging with lane Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * solve issue of sbp not activating Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * remove unused commented code Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Co-authored-by: Maxime CLEMENT <maxime.clement@tier4.jp>

* Create param.yaml and schema.json file for map_height_fitter. Revised README.md of map_height_fitter to match the current status. Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * Fixed typo Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * style(pre-commit): autofix * Added double quot to map_loader_node Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> --------- Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…fo function (autowarefoundation#6187) remove debug print statement in setDrivableAreaInfo function Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

…ation#6322) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

…til.launch.py (autowarefoundation#6287) * refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

add start/end condition Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

…o-center length (autowarefoundation#6337) * fix: bicycle motion model - set minimum wheel-to-center length for stability Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: align comments Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

…towarefoundation#6335) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

…efoundation#6320) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…min_x etc... (autowarefoundation#6314) fix(image_projection_based_fusion): fix spell check minx -> min_x etc

…c in concatenate pointclouds nodelet (autowarefoundation#6277) * feat: enable to count empty pointclouds topic Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix: time sync function to adapt empty pc topic Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

…warefoundation#6330) fix(avoidance): fix duplicated marker id Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* refactor(pose_initializer): rework parameters Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com> * refactor(pose_initializer): rework parameters Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com> * refactor(pose_initializer): rework parameters Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com> * style(pre-commit): autofix * refactor(pose_initializer): rework parameters Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com> * refactor(pose_initializer): rework parameters Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com> --------- Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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chore: sync upstream #1130

chore: sync upstream #1130

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